Add asset kitchen_supplies/utensils/2b6491c08ae85a91889e80577b3643a5
Browse files
.gitattributes
CHANGED
|
@@ -8645,3 +8645,4 @@ dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/affordance/me
|
|
| 8645 |
dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8646 |
dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8647 |
dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 8645 |
dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8646 |
dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8647 |
dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8648 |
+
dataset/kitchen_supplies/utensils/2b6491c08ae85a91889e80577b3643a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/utensils/2b6491c08ae85a91889e80577b3643a5/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,415 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "top end cap",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "briefly pinch the top end while reorienting the tool",
|
| 10 |
+
"confidence": 0.2
|
| 11 |
+
}
|
| 12 |
+
],
|
| 13 |
+
"functional_labels": [
|
| 14 |
+
"finish the top of the handle",
|
| 15 |
+
"cover the handle end",
|
| 16 |
+
"indicate handle orientation"
|
| 17 |
+
],
|
| 18 |
+
"semantic_description": "Small circular light-colored end cap at the top of the black cylindrical handle, with a smooth hard surface and a slightly recessed appearance.",
|
| 19 |
+
"id": 0,
|
| 20 |
+
"grasp_group": {}
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"part_name": "handle",
|
| 24 |
+
"mask_color": "Green",
|
| 25 |
+
"graspable": true,
|
| 26 |
+
"grasp_scenarios": [
|
| 27 |
+
{
|
| 28 |
+
"scenario": "grasp the handle body to pick up and control the corkscrew",
|
| 29 |
+
"confidence": 0.96
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"scenario": "hold the handle firmly while twisting the screw into a cork",
|
| 33 |
+
"confidence": 0.97
|
| 34 |
+
},
|
| 35 |
+
{
|
| 36 |
+
"scenario": "grasp the handle to orient the tool before use",
|
| 37 |
+
"confidence": 0.93
|
| 38 |
+
}
|
| 39 |
+
],
|
| 40 |
+
"functional_labels": [
|
| 41 |
+
"main grip surface",
|
| 42 |
+
"transmit hand torque",
|
| 43 |
+
"support twisting motion",
|
| 44 |
+
"provide control during use"
|
| 45 |
+
],
|
| 46 |
+
"semantic_description": "Long black cylindrical handle with a smooth matte surface, centered on the tool and sized for a secure hand grip.",
|
| 47 |
+
"id": 1,
|
| 48 |
+
"grasp_group": {
|
| 49 |
+
"grasp_0": {
|
| 50 |
+
"confidence": 0.9879103899002075,
|
| 51 |
+
"position": [
|
| 52 |
+
0.04817990760784596,
|
| 53 |
+
0.09532451163977385,
|
| 54 |
+
0.021610230673104525
|
| 55 |
+
],
|
| 56 |
+
"orientation": {
|
| 57 |
+
"w": 0.16171164403335914,
|
| 58 |
+
"xyz": [
|
| 59 |
+
-0.16191785933914288,
|
| 60 |
+
-0.6882627429729767,
|
| 61 |
+
0.6884230876767364
|
| 62 |
+
]
|
| 63 |
+
}
|
| 64 |
+
},
|
| 65 |
+
"grasp_1": {
|
| 66 |
+
"confidence": 0.9855877161026001,
|
| 67 |
+
"position": [
|
| 68 |
+
0.04959601711016148,
|
| 69 |
+
0.09145844262093306,
|
| 70 |
+
0.08647414902225137
|
| 71 |
+
],
|
| 72 |
+
"orientation": {
|
| 73 |
+
"w": 0.18326197033399655,
|
| 74 |
+
"xyz": [
|
| 75 |
+
-0.1655900254058422,
|
| 76 |
+
-0.6798877833942482,
|
| 77 |
+
0.690469112782498
|
| 78 |
+
]
|
| 79 |
+
}
|
| 80 |
+
},
|
| 81 |
+
"grasp_2": {
|
| 82 |
+
"confidence": 0.985160231590271,
|
| 83 |
+
"position": [
|
| 84 |
+
0.09498320322018117,
|
| 85 |
+
0.04162595700472593,
|
| 86 |
+
0.023391465190798044
|
| 87 |
+
],
|
| 88 |
+
"orientation": {
|
| 89 |
+
"w": 0.5931378984426481,
|
| 90 |
+
"xyz": [
|
| 91 |
+
0.593517911811064,
|
| 92 |
+
-0.3810398478149064,
|
| 93 |
+
-0.3882429087152345
|
| 94 |
+
]
|
| 95 |
+
}
|
| 96 |
+
},
|
| 97 |
+
"grasp_3": {
|
| 98 |
+
"confidence": 0.9846543073654175,
|
| 99 |
+
"position": [
|
| 100 |
+
0.09971211652737111,
|
| 101 |
+
0.029706946574151516,
|
| 102 |
+
0.004987396765500307
|
| 103 |
+
],
|
| 104 |
+
"orientation": {
|
| 105 |
+
"w": 0.5598370434534014,
|
| 106 |
+
"xyz": [
|
| 107 |
+
0.5718662897696397,
|
| 108 |
+
-0.4161300273933536,
|
| 109 |
+
-0.4317258756480408
|
| 110 |
+
]
|
| 111 |
+
}
|
| 112 |
+
},
|
| 113 |
+
"grasp_4": {
|
| 114 |
+
"confidence": 0.9844551086425781,
|
| 115 |
+
"position": [
|
| 116 |
+
0.09424593846779317,
|
| 117 |
+
0.04390596877783537,
|
| 118 |
+
0.028042292688041925
|
| 119 |
+
],
|
| 120 |
+
"orientation": {
|
| 121 |
+
"w": 0.5949732971598354,
|
| 122 |
+
"xyz": [
|
| 123 |
+
0.6019473504626627,
|
| 124 |
+
-0.3773996525911085,
|
| 125 |
+
-0.3758133381904445
|
| 126 |
+
]
|
| 127 |
+
}
|
| 128 |
+
},
|
| 129 |
+
"grasp_5": {
|
| 130 |
+
"confidence": 0.9832823872566223,
|
| 131 |
+
"position": [
|
| 132 |
+
0.09732362430077046,
|
| 133 |
+
0.03462428506463766,
|
| 134 |
+
0.037715351674705744
|
| 135 |
+
],
|
| 136 |
+
"orientation": {
|
| 137 |
+
"w": 0.5769474642115989,
|
| 138 |
+
"xyz": [
|
| 139 |
+
0.581709794637535,
|
| 140 |
+
-0.4054105442832091,
|
| 141 |
+
-0.4054474428906361
|
| 142 |
+
]
|
| 143 |
+
}
|
| 144 |
+
},
|
| 145 |
+
"grasp_6": {
|
| 146 |
+
"confidence": 0.9831104278564453,
|
| 147 |
+
"position": [
|
| 148 |
+
0.10117973189335316,
|
| 149 |
+
0.01887353230267763,
|
| 150 |
+
0.03436023602262139
|
| 151 |
+
],
|
| 152 |
+
"orientation": {
|
| 153 |
+
"w": 0.4407953209235015,
|
| 154 |
+
"xyz": [
|
| 155 |
+
-0.46140552283492364,
|
| 156 |
+
-0.5600688975130095,
|
| 157 |
+
0.5283249554847291
|
| 158 |
+
]
|
| 159 |
+
}
|
| 160 |
+
},
|
| 161 |
+
"grasp_7": {
|
| 162 |
+
"confidence": 0.9829460382461548,
|
| 163 |
+
"position": [
|
| 164 |
+
-0.0762846713187173,
|
| 165 |
+
0.06876720022410154,
|
| 166 |
+
0.08551872381940484
|
| 167 |
+
],
|
| 168 |
+
"orientation": {
|
| 169 |
+
"w": 0.6552997772564301,
|
| 170 |
+
"xyz": [
|
| 171 |
+
0.6307318494968404,
|
| 172 |
+
0.29018070554686226,
|
| 173 |
+
0.2975814074943076
|
| 174 |
+
]
|
| 175 |
+
}
|
| 176 |
+
},
|
| 177 |
+
"grasp_8": {
|
| 178 |
+
"confidence": 0.9824135303497314,
|
| 179 |
+
"position": [
|
| 180 |
+
-0.050295120221562684,
|
| 181 |
+
-0.09490924794226885,
|
| 182 |
+
0.00033991923555731773
|
| 183 |
+
],
|
| 184 |
+
"orientation": {
|
| 185 |
+
"w": 0.18142691527021254,
|
| 186 |
+
"xyz": [
|
| 187 |
+
0.19056206790398666,
|
| 188 |
+
0.6797438436768258,
|
| 189 |
+
0.6846303233681272
|
| 190 |
+
]
|
| 191 |
+
}
|
| 192 |
+
},
|
| 193 |
+
"grasp_9": {
|
| 194 |
+
"confidence": 0.9822677969932556,
|
| 195 |
+
"position": [
|
| 196 |
+
0.09363700996618718,
|
| 197 |
+
0.05004927795380354,
|
| 198 |
+
-0.0007169661112129688
|
| 199 |
+
],
|
| 200 |
+
"orientation": {
|
| 201 |
+
"w": 0.6107293633671175,
|
| 202 |
+
"xyz": [
|
| 203 |
+
0.6069713251598664,
|
| 204 |
+
-0.3555607169899503,
|
| 205 |
+
-0.36355471622365726
|
| 206 |
+
]
|
| 207 |
+
}
|
| 208 |
+
},
|
| 209 |
+
"grasp_10": {
|
| 210 |
+
"confidence": 0.9822242856025696,
|
| 211 |
+
"position": [
|
| 212 |
+
-0.04395286936778575,
|
| 213 |
+
-0.09694477636367083,
|
| 214 |
+
0.03892726683989167
|
| 215 |
+
],
|
| 216 |
+
"orientation": {
|
| 217 |
+
"w": 0.1520119770809522,
|
| 218 |
+
"xyz": [
|
| 219 |
+
0.17154295701149738,
|
| 220 |
+
0.6903275573504208,
|
| 221 |
+
0.6862311828285658
|
| 222 |
+
]
|
| 223 |
+
}
|
| 224 |
+
},
|
| 225 |
+
"grasp_11": {
|
| 226 |
+
"confidence": 0.9821422100067139,
|
| 227 |
+
"position": [
|
| 228 |
+
0.09579673211555928,
|
| 229 |
+
0.031180947087705135,
|
| 230 |
+
0.019644700456410646
|
| 231 |
+
],
|
| 232 |
+
"orientation": {
|
| 233 |
+
"w": 0.5668119051789705,
|
| 234 |
+
"xyz": [
|
| 235 |
+
0.5789735232804827,
|
| 236 |
+
-0.4124420051535489,
|
| 237 |
+
-0.4164198792955143
|
| 238 |
+
]
|
| 239 |
+
}
|
| 240 |
+
},
|
| 241 |
+
"grasp_12": {
|
| 242 |
+
"confidence": 0.9818165302276611,
|
| 243 |
+
"position": [
|
| 244 |
+
-0.10025015671271831,
|
| 245 |
+
-0.024258467368781567,
|
| 246 |
+
0.0895439893938601
|
| 247 |
+
],
|
| 248 |
+
"orientation": {
|
| 249 |
+
"w": 0.4451351861132999,
|
| 250 |
+
"xyz": [
|
| 251 |
+
0.4282518286892723,
|
| 252 |
+
0.5482009255882553,
|
| 253 |
+
0.5638535115545105
|
| 254 |
+
]
|
| 255 |
+
}
|
| 256 |
+
},
|
| 257 |
+
"grasp_13": {
|
| 258 |
+
"confidence": 0.9818019270896912,
|
| 259 |
+
"position": [
|
| 260 |
+
0.10336371313314885,
|
| 261 |
+
0.0055464161559939384,
|
| 262 |
+
0.019600594881922007
|
| 263 |
+
],
|
| 264 |
+
"orientation": {
|
| 265 |
+
"w": 0.48140861112059735,
|
| 266 |
+
"xyz": [
|
| 267 |
+
-0.49009787681110106,
|
| 268 |
+
-0.525562672365027,
|
| 269 |
+
0.5018303475286443
|
| 270 |
+
]
|
| 271 |
+
}
|
| 272 |
+
},
|
| 273 |
+
"grasp_14": {
|
| 274 |
+
"confidence": 0.9814307689666748,
|
| 275 |
+
"position": [
|
| 276 |
+
-0.07050267804879695,
|
| 277 |
+
0.07451539766043425,
|
| 278 |
+
0.07717791059985757
|
| 279 |
+
],
|
| 280 |
+
"orientation": {
|
| 281 |
+
"w": 0.6678339953408173,
|
| 282 |
+
"xyz": [
|
| 283 |
+
0.6372489780330352,
|
| 284 |
+
0.2664781445005049,
|
| 285 |
+
0.2773101028930274
|
| 286 |
+
]
|
| 287 |
+
}
|
| 288 |
+
},
|
| 289 |
+
"grasp_15": {
|
| 290 |
+
"confidence": 0.9812322854995728,
|
| 291 |
+
"position": [
|
| 292 |
+
0.03931935678701848,
|
| 293 |
+
0.09887641947716475,
|
| 294 |
+
0.0722155855037272
|
| 295 |
+
],
|
| 296 |
+
"orientation": {
|
| 297 |
+
"w": 0.12972725107305816,
|
| 298 |
+
"xyz": [
|
| 299 |
+
-0.13803674589779746,
|
| 300 |
+
-0.6870234869362483,
|
| 301 |
+
0.7015093908914787
|
| 302 |
+
]
|
| 303 |
+
}
|
| 304 |
+
},
|
| 305 |
+
"grasp_16": {
|
| 306 |
+
"confidence": 0.9811791777610779,
|
| 307 |
+
"position": [
|
| 308 |
+
-0.10012587357778102,
|
| 309 |
+
-0.016719465143978596,
|
| 310 |
+
0.05996076622977853
|
| 311 |
+
],
|
| 312 |
+
"orientation": {
|
| 313 |
+
"w": 0.4737226980217884,
|
| 314 |
+
"xyz": [
|
| 315 |
+
0.4496551019391249,
|
| 316 |
+
0.522630085013627,
|
| 317 |
+
0.5479551887862014
|
| 318 |
+
]
|
| 319 |
+
}
|
| 320 |
+
},
|
| 321 |
+
"grasp_17": {
|
| 322 |
+
"confidence": 0.9811255931854248,
|
| 323 |
+
"position": [
|
| 324 |
+
0.09310030739288777,
|
| 325 |
+
0.04910369496792555,
|
| 326 |
+
0.037630217615514994
|
| 327 |
+
],
|
| 328 |
+
"orientation": {
|
| 329 |
+
"w": 0.6052139391080749,
|
| 330 |
+
"xyz": [
|
| 331 |
+
0.609429471600817,
|
| 332 |
+
-0.35654293390093694,
|
| 333 |
+
-0.3676804908326644
|
| 334 |
+
]
|
| 335 |
+
}
|
| 336 |
+
},
|
| 337 |
+
"grasp_18": {
|
| 338 |
+
"confidence": 0.9810299873352051,
|
| 339 |
+
"position": [
|
| 340 |
+
0.10255254607181996,
|
| 341 |
+
-0.003548873122781515,
|
| 342 |
+
0.029822295997291803
|
| 343 |
+
],
|
| 344 |
+
"orientation": {
|
| 345 |
+
"w": 0.49317868455643343,
|
| 346 |
+
"xyz": [
|
| 347 |
+
-0.5235718297767703,
|
| 348 |
+
-0.5032785326287793,
|
| 349 |
+
0.4789133979733844
|
| 350 |
+
]
|
| 351 |
+
}
|
| 352 |
+
},
|
| 353 |
+
"grasp_19": {
|
| 354 |
+
"confidence": 0.9808303117752075,
|
| 355 |
+
"position": [
|
| 356 |
+
-0.10388834972400218,
|
| 357 |
+
-0.0062981401570141315,
|
| 358 |
+
0.002991884481161833
|
| 359 |
+
],
|
| 360 |
+
"orientation": {
|
| 361 |
+
"w": 0.5169608353791911,
|
| 362 |
+
"xyz": [
|
| 363 |
+
-0.5029473652499302,
|
| 364 |
+
0.49032845204626296,
|
| 365 |
+
-0.48925806236189595
|
| 366 |
+
]
|
| 367 |
+
}
|
| 368 |
+
}
|
| 369 |
+
}
|
| 370 |
+
},
|
| 371 |
+
{
|
| 372 |
+
"part_name": "metal collar with corkscrew shank",
|
| 373 |
+
"mask_color": "Yellow",
|
| 374 |
+
"graspable": false,
|
| 375 |
+
"grasp_scenarios": [
|
| 376 |
+
{
|
| 377 |
+
"scenario": "lightly hold the metal section for close positioning only",
|
| 378 |
+
"confidence": 0.22
|
| 379 |
+
}
|
| 380 |
+
],
|
| 381 |
+
"functional_labels": [
|
| 382 |
+
"connect handle to base",
|
| 383 |
+
"support the working end",
|
| 384 |
+
"provide structural rigidity",
|
| 385 |
+
"house the visible corkscrew shank"
|
| 386 |
+
],
|
| 387 |
+
"semantic_description": "Short silver metallic cylindrical section below the handle with a glossy reflective surface; the dark corkscrew spiral is visible along one side near this lower section.",
|
| 388 |
+
"id": 3,
|
| 389 |
+
"grasp_group": {}
|
| 390 |
+
},
|
| 391 |
+
{
|
| 392 |
+
"part_name": "bottom base cap",
|
| 393 |
+
"mask_color": "Blue",
|
| 394 |
+
"graspable": false,
|
| 395 |
+
"grasp_scenarios": [
|
| 396 |
+
{
|
| 397 |
+
"scenario": "not a primary grasp point; can be contacted briefly for stabilization or reorientation",
|
| 398 |
+
"confidence": 0.18
|
| 399 |
+
}
|
| 400 |
+
],
|
| 401 |
+
"functional_labels": [
|
| 402 |
+
"form the bottom end of the tool",
|
| 403 |
+
"protect the lower end",
|
| 404 |
+
"provide a resting surface"
|
| 405 |
+
],
|
| 406 |
+
"semantic_description": "Dark circular end cap at the bottom of the tool, wider than the silver collar, with a smooth hard surface and a flat rounded outline in the views.",
|
| 407 |
+
"id": 2,
|
| 408 |
+
"grasp_group": {}
|
| 409 |
+
}
|
| 410 |
+
],
|
| 411 |
+
"quality_check": {
|
| 412 |
+
"success": false,
|
| 413 |
+
"message": "Yellow part description/function is incorrect; visible helical screw is omitted and blue base is not a protective resting cap."
|
| 414 |
+
}
|
| 415 |
+
}
|
dataset/kitchen_supplies/utensils/2b6491c08ae85a91889e80577b3643a5/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ed7addf586b11996fdc8857129c8e801968fc502579a21add40cf5024383f7e7
|
| 3 |
+
size 111374964
|